Lattice Planner规划算法权重

apollo/modules/planning/planning_base/gflags
/planning_gflags.cc

// Lattice Evaluate Parameters
DEFINE_double(weight_lon_objective, 10.0, "Weight of longitudinal travel cost");
DEFINE_double(weight_lon_jerk, 1.0, "Weight of longitudinal jerk cost");
DEFINE_double(weight_lon_collision, 5.0,
              "Weight of longitudinal collision cost");
DEFINE_double(weight_lat_offset, 2.0, "Weight of lateral offset cost");
DEFINE_double(weight_lat_comfort, 10.0, "Weight of lateral comfort cost");
DEFINE_double(weight_centripetal_acceleration, 1.5,
              "Weight of centripetal acceleration");
DEFINE_double(cost_non_priority_reference_line, 5.0,
              "The cost of planning on non-priority reference line.");
DEFINE_double(weight_same_side_offset, 1.0,
              "Weight of same side lateral offset cost");
DEFINE_double(weight_opposite_side_offset, 10.0,
              "Weight of opposite side lateral offset cost");
DEFINE_double(weight_dist_travelled, 10.0, "Weight of travelled distance cost");
DEFINE_double(weight_target_speed, 1.0, "Weight of target speed cost");
DEFINE_double(lat_offset_bound, 3.0, "The bound of lateral offset");
DEFINE_double(lon_collision_yield_buffer, 1.0,
              "Longitudinal collision buffer for yield");
DEFINE_double(lon_collision_overtake_buffer, 5.0,
              "Longitudinal collision buffer for overtake");
DEFINE_double(lon_collision_cost_std, 0.5,
              "The standard deviation of longitudinal collision cost function");
DEFINE_double(default_lon_buffer, 5.0,
              "Default longitudinal buffer to sample path-time points.");
DEFINE_double(time_min_density, 1.0,
              "Minimal time density to search sample points.");
DEFINE_double(comfort_acceleration_factor, 0.5,
              "Factor for comfort acceleration.");
DEFINE_double(polynomial_minimal_param, 0.01,
              "Minimal time parameter in polynomials.");
DEFINE_double(lattice_stop_buffer, 0.02,
              "The buffer before the stop s to check trajectories.");

DEFINE_bool(lateral_optimization, true,
            "whether using optimization for lateral trajectory generation");
DEFINE_double(weight_lateral_offset, 1.0,
              "weight for lateral offset "
              "in lateral trajectory optimization");
DEFINE_double(weight_lateral_derivative, 500.0,
              "weight for lateral derivative "
              "in lateral trajectory optimization");
DEFINE_double(weight_lateral_second_order_derivative, 1000.0,
              "weight for lateral second order derivative "
              "in lateral trajectory optimization");
DEFINE_double(weight_lateral_third_order_derivative, 1000.0,
              "weight for lateral third order derivative "
              "in lateral trajectory optimization");
DEFINE_double(
    weight_lateral_obstacle_distance, 0.0,
    "weight for lateral obstacle distance in lateral trajectory optimization");
DEFINE_double(lateral_third_order_derivative_max, 0.1,
              "the maximal allowance for lateral third order derivative");
DEFINE_double(max_s_lateral_optimization, 60.0,
              "The maximal s for lateral optimization.");
DEFINE_double(default_delta_s_lateral_optimization, 1.0,
              "The default delta s for lateral optimization.");
DEFINE_double(bound_buffer, 0.1, "buffer to boundary for lateral optimization");
DEFINE_double(nudge_buffer, 0.3, "buffer to nudge for lateral optimization");

DEFINE_double(fallback_total_time, 3.0, "total fallback trajectory time");
DEFINE_double(fallback_time_unit, 0.1,
              "fallback trajectory unit time in seconds");

DEFINE_double(speed_bump_speed_limit, 4.4704,
              "the speed limit when passing a speed bump, m/s. The default "
              "speed limit is 10 mph.");
DEFINE_double(default_city_road_speed_limit, 15.67,
              "default speed limit (m/s) for city road. 35 mph.");
DEFINE_double(default_highway_speed_limit, 29.06,
              "default speed limit (m/s) for highway. 65 mph.");